osqp: add v0.6.3 version (#5226)

* osqp: add v0.6.3 version

* qdldl: fix static build

* fix link order

* add_deps pkg-config

* improve pkg-config

* add fallback

* Revert "add fallback"

This reverts commit b3676efa0e713b65f5bd7ab9b07a075e657f48bb.

* fix pkg-config for subhost windows

packages/o/osqp/patches/0.6.3/cmake.patch

@@ -0,0 +1,88 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index afd7bb94..a8ccb883 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -267,15 +267,18 @@ endif (R_LANG)
+ 
+ # Create Static Library
+ # ----------------------------------------------
+-
++include(GNUInstallDirs)
++include(FindPkgConfig)
++pkg_search_module(qdldl REQUIRED IMPORTED_TARGET qdldl)
+ # Add linear system solvers cumulative library
+ add_subdirectory(lin_sys)
+ 
++if(NOT BUILD_SHARED_LIBS)
+ # Static library
+ add_library (osqpstatic STATIC ${osqp_src} ${osqp_headers} ${linsys_solvers})
+ # Give same name to static library output
+ set_target_properties(osqpstatic PROPERTIES OUTPUT_NAME osqp)
+-
++target_link_libraries(osqpstatic PkgConfig::qdldl)
+ # Include directories for linear system solvers
+ target_include_directories(osqpstatic PRIVATE ${linsys_solvers_includes})
+ 
+@@ -294,7 +297,7 @@ install(TARGETS osqpstatic
+         ARCHIVE       DESTINATION "${CMAKE_INSTALL_LIBDIR}"
+         LIBRARY       DESTINATION "${CMAKE_INSTALL_LIBDIR}"
+         RUNTIME       DESTINATION "${CMAKE_INSTALL_BINDIR}")
+-
++endif()
+ 
+ # Install Headers
+ # ----------------------------------------------
+@@ -310,10 +313,11 @@ endif (MATLAB)
+ # If we are building Python/Matlab/R interface:
+ #   - do not build shared library
+ #   - do not build demo
+-if (NOT PYTHON AND NOT MATLAB AND NOT R_LANG AND NOT EMBEDDED)
++if (BUILD_SHARED_LIBS)
+     # Create osqp shared library
+     # NB: Add all the linear system solvers here
+     add_library (osqp SHARED ${osqp_src} ${osqp_headers} ${linsys_solvers})
++    target_link_libraries(osqp PkgConfig::qdldl)
+ 
+     # Include directories for linear system solvers
+     target_include_directories(osqp PRIVATE ${linsys_solvers_includes})
+@@ -331,10 +335,9 @@ if (NOT PYTHON AND NOT MATLAB AND NOT R_LANG AND NOT EMBEDDED)
+             RUNTIME       DESTINATION "${CMAKE_INSTALL_BINDIR}")
+ 
+     # Create demo executable (linked to static library)
+-    add_executable (osqp_demo ${PROJECT_SOURCE_DIR}/examples/osqp_demo.c)
+-    target_link_libraries (osqp_demo osqpstatic)
+ 
+-endif (NOT PYTHON AND NOT MATLAB AND NOT R_LANG AND NOT EMBEDDED)
++
++endif (BUILD_SHARED_LIBS)
+ 
+ # Create CMake packages for the build directory
+ # ----------------------------------------------
+diff --git a/lin_sys/direct/CMakeLists.txt b/lin_sys/direct/CMakeLists.txt
+index c36c375a..2942cc9f 100644
+--- a/lin_sys/direct/CMakeLists.txt
++++ b/lin_sys/direct/CMakeLists.txt
+@@ -6,7 +6,7 @@ add_subdirectory(qdldl)
+ 
+ # Need to add qdldlobject only here because it cannot be
+ # included in another object library such as linsys_qdldl
+-set(direct_linsys_solvers $<TARGET_OBJECTS:linsys_qdldl> $<TARGET_OBJECTS:qdldlobject>)
++set(direct_linsys_solvers $<TARGET_OBJECTS:linsys_qdldl> )
+ 
+ # NB. The second directory is added because we need to include the "qdldl_types.h" file in "qdldl_interface.h"
+ set(direct_linsys_solvers_includes
+diff --git a/lin_sys/direct/qdldl/CMakeLists.txt b/lin_sys/direct/qdldl/CMakeLists.txt
+index d78c4a38..b3429a12 100644
+--- a/lin_sys/direct/qdldl/CMakeLists.txt
++++ b/lin_sys/direct/qdldl/CMakeLists.txt
+@@ -1,5 +1,4 @@
+ # Add qdldl
+-add_subdirectory(qdldl_sources)
+ 
+ 
+ if(NOT DEFINED EMBEDDED)
+@@ -39,3 +38,4 @@ set(qdldl_interface_src
+ # Create object library for linear system solver interface
+ add_library(linsys_qdldl OBJECT ${qdldl_interface_src})
+ target_include_directories(linsys_qdldl PRIVATE ${qdldl_interface_includes} ${PROJECT_SOURCE_DIR}/include)
++target_link_libraries(linsys_qdldl PkgConfig::qdldl)

packages/o/osqp/xmake.lua

@@ -1,19 +1,29 @@
 package("osqp")
-
     set_homepage("https://osqp.org/")
     set_description("The Operator Splitting QP Solver")
     set_license("Apache-2.0")
 
-    add_urls("https://github.com/oxfordcontrol/osqp.git")
-    add_versions("v0.6.2", "f9fc23d3436e4b17dd2cb95f70cfa1f37d122c24")
+    add_urls("https://github.com/osqp/osqp/releases/download/$(version)/osqp-$(version)-src.tar.gz",
+             "https://github.com/osqp/osqp.git")
+
+    add_versions("v0.6.3", "285b2a60f68d113a1090767ec8a9c81a65b3af2d258f8c78a31cc3f98ba58456")
+
+    add_patches("0.6.3", "patches/0.6.3/cmake.patch", "ffe3809019eebae7559e8c4016431e9d3e9bc35776d9affe65b83904dd753999")
 
     add_deps("cmake")
-    on_install("windows", "macosx", "linux", "mingw", function (package)
-        local configs = {}
-        table.insert(configs, "-DCMAKE_BUILD_TYPE=" .. (package:debug() and "Debug" or "Release"))
+    if is_subhost("windows") then
+        add_deps("pkgconf")
+    elseif is_host("linux", "macosx", "bsd") then
+        add_deps("pkg-config")
+    end
+    add_deps("qdldl")
+
+    on_install(function (package)
+        local configs = {"-DCMAKE_POLICY_DEFAULT_CMP0057=NEW"}
+        table.insert(configs, "-DCMAKE_BUILD_TYPE=" .. (package:is_debug() and "Debug" or "Release"))
         table.insert(configs, "-DBUILD_SHARED_LIBS=" .. (package:config("shared") and "ON" or "OFF"))
-        if package:config("pic") ~= false then
-            table.insert(configs, "-DCMAKE_POSITION_INDEPENDENT_CODE=ON")
+        if package:config("shared") and package:is_plat("windows") then
+            table.insert(configs, "-DCMAKE_WINDOWS_EXPORT_ALL_SYMBOLS=ON")
         end
         import("package.tools.cmake").install(package, configs)
     end)

packages/q/qdldl/xmake.lua

@@ -0,0 +1,30 @@
+package("qdldl")
+    set_homepage("https://github.com/osqp/qdldl")
+    set_description("A free LDL factorisation routine")
+    set_license("Apache-2.0")
+
+    add_urls("https://github.com/osqp/qdldl/archive/refs/tags/$(version).tar.gz",
+             "https://github.com/osqp/qdldl.git")
+
+    add_versions("v0.1.7", "631ae65f367859fa1efade1656e4ba22b7da789c06e010cceb8b29656bf65757")
+
+    add_includedirs("include", "include/qdldl")
+
+    add_deps("cmake")
+
+    on_install(function (package)
+        if package:config("shared") then
+            package:add("defines", "QDLDL_SHARED_LIB")
+        end
+
+        local configs = {"-DQDLDL_BUILD_DEMO_EXE=OFF", "-DCMAKE_POLICY_DEFAULT_CMP0057=NEW"}
+        table.insert(configs, "-DCMAKE_BUILD_TYPE=" .. (package:is_debug() and "Debug" or "Release"))
+        table.insert(configs, "-DBUILD_SHARED_LIBS=" .. (package:config("shared") and "ON" or "OFF"))
+        table.insert(configs, "-DQDLDL_BUILD_SHARED_LIB=" .. (package:config("shared") and "ON" or "OFF"))
+        table.insert(configs, "-DQDLDL_BUILD_STATIC_LIB=" .. (package:config("shared") and "OFF" or "ON"))
+        import("package.tools.cmake").install(package, configs)
+    end)
+
+    on_test(function (package)
+        assert(package:has_cfuncs("QDLDL_etree", {includes = "qdldl/qdldl.h"}))
+    end)